NAME¶

grid-matching - Executes occupancy grid matching techniques

SYNOPSIS¶

grid-matching --match --map1=grid1.simplemap --map2=grid1.simplemap [options] grid-matching --detect-test --map1=grid1.simplemap [options]

DESCRIPTION¶

grid-matching is a command-line application which takes two maps as input and computes a Sum-Of-Gaussians (SOG) density distribution for the 2D transformation between them, if they are found to match.

OPTIONS¶

--match Operation: match two maps --detect-test Operation: Quality of match with one map --map1 arg Map #1 to align (*.simplemap) --map2 arg Map #2 to align (*.simplemap) --out arg (=gridmatching_out.txt) Output file for the results --config arg Optional config. file with more params --save-sog-3d Save a 3D view of all the SOG modes --save-sog-all Save all the map overlaps --noise-xy arg (=0) In detect-test mode,std. noise in XY --noise-phi arg (=0) In detect-test mode,std. noise in PHI (deg) --Ax arg (=4) In detect-test mode, displacement in X --Ay arg (=2) In detect-test mode, displacement in Y --Aphi arg (=30) In detect-test mode, displ. in PHI (deg) --verbose verbose output --nologo skip the logo at startup --help produce help message

BUGS¶

Please report bugs at https://github.com/MRPT/mrpt/issues

SEE ALSO¶

The application list and their documentation: https://docs.mrpt.org/reference/latest/applications.html

AUTHORS¶

grid-matching is part of the Mobile Robot Programming Toolkit (MRPT), and was originally written by the MAPIR laboratory (University of Malaga).

This manual page was written by Jose Luis Blanco <joseluisblancoc@gmail.com>.

COPYRIGHT¶

This program is free software; you can redistribute it and/or modify it under the terms of the BSD License.

On Debian GNU/Linux systems, the complete text of the BSD License can be found in `/usr/share/common-licenses/BSD'.